Parking assistance apparatus

ABSTRACT

A parking control method includes: detecting a first parking space based on the ambient image of the vehicle captured by an imaging device; controlling at least a steering actuator of the vehicle to cause the vehicle to be parked in the first parking space; detecting a second parking space based on the ambient image of the vehicle captured by the imaging device, while the vehicle is travelling into the first parking space, the second parking space being adjacent to the first parking space in a travelling direction of the vehicle, the second parking space being farther than the first parking space from the vehicle; and controlling at least the steering actuator of the vehicle to cause the vehicle to be parked in the second parking space.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/531,457, filed Aug. 5, 2019, which claims the benefit of JapaneseAppl. No. 2018-147488, filed Aug. 6, 2018. The disclosure of each ofthese documents, including the specification, drawings and claims, isincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to a parking assistance apparatus.

BACKGROUND ART

In the past, a parking assistance apparatus has been known which detectsa parking space and controls a vehicle to park for forward parking (alsoreferred to as parking in a forward direction) in the parking space (forexample, see PTL 1). The forward parking is to move a vehicle forward toenter a parking space to park.

CITATION LIST Patent Literature

PTL 1

-   Japanese Patent Application Laid-Open No. 2017-213943

SUMMARY

In this specification, an action of a vehicle parked in a predeterminedparking space going out from the parking space is referred to as“leaving parking space”.

An object of an aspect of the present disclosure is to provide a parkingassistance apparatus capable of achieving easier leaving parking space.

A parking assistance apparatus according to one aspect of the presentdisclosure includes: a detection section that detects a first parkingspace in which parking of a vehicle is allowed; and a control sectionthat causes the vehicle to be forward parked in the first parking space,in which, when a second parking space in which parking of the vehicle isallowed is present in front of the vehicle entering the first parkingspace, the control section causes the vehicle that has been alreadyunder control to be forward parked in the first parking space to enterthe second parking space from the first parking space and to be parkedin the second parking space.

A parking assistance apparatus according to one aspect of the presentdisclosure includes: a detection section that detects a parking space inwhich parking of a vehicle is allowed; and a control section that causesthe vehicle to enter the parking space through forward movement, inwhich, when a parking space in which parking of the vehicle is allowedis present in front of the vehicle, the control section controls thevehicle such that the vehicle passes through the parking space.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram illustrating a configuration example of avehicle according to an embodiment of the present disclosure;

FIG. 2 illustrates an example of a hardware configuration of a computerincluded in a parking assistance apparatus according to the embodimentof the present disclosure;

FIG. 3 is a block diagram illustrating a configuration example of theparking assistance apparatus according to the embodiment of the presentdisclosure;

FIG. 4 illustrates an example of a parking space according to theembodiment of the present disclosure;

FIG. 5 is a flowchart illustrating an operation example of the parkingassistance apparatus according to the embodiment of the presentdisclosure; and

FIG. 6 is a flowchart illustrating an operation example of a parkingassistance apparatus according to Variation 11 the present disclosure.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present disclosure is described withreference to the accompanying drawings. Note that elements common to thefigures are designated by the same reference sign and the descriptionsthereof are omitted.

<Configuration of Vehicle>

First, a configuration of vehicle 1 is according to an embodiment of thepresent disclosure is described using FIG. 1 .

FIG. 1 is a schematic diagram illustrating a configuration example ofvehicle 1 according to the embodiment. FIG. 1 illustrates a state ofvehicle 1 viewed from directly above. In FIG. 1 , arrow F indicates afront direction of vehicle 1, arrow B indicates a backward direction ofvehicle 1, arrow L indicates a left direction of vehicle 1, and arrow Rindicates a right direction of vehicle 1.

As illustrated in FIG. 1 , vehicle 1 includes output apparatus 10,imaging apparatus 20, storage 30, input apparatus 40, and parkingassistance apparatus 50.

Output apparatus 10 is a device that notifies an occupant in vehicle 1of various notifications. Output apparatus 10 may be a display apparatussuch as a display and a touch panel, an audio output apparatus such as aspeaker, or both of them, for example.

Imaging apparatus 20 is a camera device that images the front directionof vehicle 1 (which may include a diagonally right direction and adiagonally left direction), for example. Imaging apparatus 20 isequivalent to a “sensing section” that senses surrounding conditions ofvehicle 1. Note that a mounting position of imaging apparatus 20 is notlimited to that illustrated in FIG. 1 .

Storage 30 is a storage device that stores various pieces ofinformation. Storage 30 may be a hard disk or a memory, for example.

Storage 30 stores predefined feature point information, for example. Thefeature point information is information indicating feature points of acar stopper placed in the parking space. Storage 30 stores a pluralityof pieces of feature point information for each of kinds of the carstopper.

Input apparatus 40 is an input device that accepts various operations bythe occupant in vehicle 1. Input apparatus 40 may be a touch panel, or aphysical button, switch, and the like, for example. A function of inputapparatus 40 may be configured to be included in output apparatus 10.

Parking assistance apparatus 50 is a control device that detects aparking space and automatically parks vehicle 1 in the parking space.

Parking assistance apparatus 50 is electrically connected with outputapparatus 10, imaging apparatus 20, storage 30, and input apparatus 40.

Parking assistance apparatus 50 has CPU (Central Processing Unit) 501,ROM (Read Only Memory) 502 storing a computer program therein, and RAM(Random Access Memory) 503 as hardware, as illustrated in FIG. 2 , forexample. CPU 501, ROM 502, and RAM 503 are connected with each otherthrough bus 504.

Functions of sections in parking assistance apparatus 50 described later(see FIG. 3 ) are realized by CPU 501 reading from ROM 502 and executingthe computer program. This computer program may be recorded in apredetermined recording medium and provided to a user or like.

<Configuration of Parking Assistance Apparatus>

Next, a configuration of parking assistance apparatus 50 illustrated inFIG. 1 is described using FIG. 3 . FIG. 3 is block diagram illustratinga configuration example of parking assistance apparatus 50.

As illustrated in FIG. 3 , parking assistance apparatus 50 includesdetection section 51, control section 52, and reception section 53.

First, detection section 51 is described.

Detection section 51 receives an image captured by imaging apparatus 20from imaging apparatus 20, and detects a first parking space in whichvehicle 1 can be parked based on the image.

Detection section 51 determines, when control section 52 starts controlof forward parking vehicle 1 in the first parking space (hereinafter,referred to as a first parking control), whether or not a second parkingspace in which vehicle 1 can be parked is present in front of vehicle 1entering the first parking space.

The embodiment describes, as an example, a case that the parking spacedetected by detection section 51 is an area which is one of stallsdivided by dividing lines drawn on the ground and one vehicle 1 can beparked in. Here, an example of the parking space is described using FIG.4 . FIG. 4 illustrates the parking space viewed from directly above.

) FIG. 4 illustrates parallelogram parking spaces diagonally divided bydividing lines P. Such parallelogram parking spaces are provided in aparking area (also referred to as a service area) on an expressway, forexample.

Among six parking spaces illustrated in FIG. 4 , parked in the parkingspaces other than parking spaces S1 and S2 are other vehicles (thanvehicle 1), and other vehicles are not parked in the parking spaces S1and S2. Parking space S1 is an example of the first parking space andparking space S2 is an example of the second parking space.

Hereinabove, one example of the parking space is described. Hereinafter,return to the description of detection section 51.

When detection section 51 determines that the second parking space ispresent, detection section 51 determines whether or not a car stopper ispresent in the first parking space.

Specifically, detection section 51 extracts a feature point from theimage received from imaging apparatus 20 and checks the feature pointagainst the feature point information read from storage 30 to determinewhether or not a car stopper is present in the first parking space.

Note that here is described, as an example, the case of determiningwhether or not a car stopper is present in the first parking space, butdetection section 51 may determine whether or not a car stopper ispresent in at least one of the first parking space and the secondparking space.

Next, control section 52 is described.

Control section 52 controls vehicle 1 such that vehicle 1 isautomatically parked in the parking space detected by detection section51.

Specifically, control section 52 causes various actuators notillustrated in the figure to perform acceleration, deceleration,braking, steering, and the like of vehicle 1 to control a parkingoperation of vehicle 1. Examples of the actuator includes a motoractuator performing acceleration and deceleration, a brake actuatorperforming braking, and a steering actuator performing steering.

The parking control by the control section 52 includes a first parkingcontrol and a second parking control.

The first parking control is the control of forward parking vehicle 1 inthe first parking space, as described above.

The second parking control is control of causing vehicle 1 to enter thesecond parking space from the first parking space and to be parked inthe second parking space.

The second parking control is performed when reception section 53receives parking instruction information described later, for example.

The control section 52 also controls output apparatus 10, when detectionsection 51 determines that the second parking space is present, to makean inquiry to the occupant in vehicle 1 about whether to park vehicle 1in the second parking space.

Next, reception section 53 is described.

Reception section 53 receives the parking instruction information frominput apparatus 40. The parking instruction information is informationfor instructing parking in the second parking space.

For example, with respect to the inquiry about whether to park vehicle 1in the second parking space described above, if the occupant in vehicle1 performs an operation to instruct the parking in the second parkingspace, input apparatus 40 transmits the parking instruction informationto reception section 53.

<Operation of Parking Assistance Apparatus>

Next, an operation of parking assistance apparatus 50 is described usingFIG. 4 and FIG. 5 . FIG. 5 is a flowchart illustrating an operationexample of parking assistance apparatus 50. The flow illustrated in FIG.5 is started when the occupant in vehicle 1 operates input apparatus 40to instruct performing automatically parking, for example.

First, detection section 51 detects the first parking space in whichvehicle 1 can be parked (step S1).

For example, detection section 51 detects parking space S1.

Next, control section 52 starts the first parking control (step S2).

For example, control section 52 starts control of forward parkingvehicle 1 in parking space S1. This allows vehicle 1 to start enteringparking space S1.

Next, control section 52 ends the first parking control (step S3).

For example, control section 52 stops vehicle 1 within parking space S1.This completes the forward parking of vehicle 1.

Next, detection section 51 determines whether or not the second parkingspace in which vehicle can be parked is present (step S4).

For example, detection section 51 determines whether or not the secondparking space in which vehicle 1 can be parked (for example, in whichother vehicles are not parked) is present in front of vehicle 1 forwardparked in parking space S1.

When the second parking space is not present (step S4: NO), the flowends. In this case, vehicle 1 remains being forward parked in the firstparking space (for example, in parking space S1).

On the other hand, when the second parking space is present (step S4:YES), the flow goes to step S5. In the example in FIG. 4 , since othervehicle is not parked in parking space S2, detection section 51determines that the second parking space is present.

Next, detection section 51 determines whether or not a car stopper ispresent in the first parking space (step S5). As described above,detection section 51 extracts a feature point from the image receivedfrom imaging apparatus 20 and checks the feature point against thefeature point information read from storage 30 to determine whether ornot a car stopper is present in the first parking space. Imagingapparatus 20 may capture an image at any timing from step S1 to step S4.

When a car stopper is present (step S5: YES), the flow ends In thiscase, vehicle 1 remains being forward parked in the first parking space(for example, in parking space S1).

On the other hand, when a car stopper is not present (step S5: NO), theflow goes to step S6. In the example in FIG. 4 , since no car stopper isprovided in the respective parking spaces, detection section 51determines that a car stopper is not present in parking space S1.

Next, control section 52 controls output apparatus 10 to make an inquiryto the occupant in vehicle 1 about whether to park vehicle 1 in thesecond parking space (step S6).

This control allows output apparatus 10 to perform display or audiooutput of a message indicating the inquiry about whether to park vehicle1 in the second parking space.

Here, the occupant in vehicle 1 operates input apparatus 40 to instructwhether to park vehicle 1 in the second parking space. When inputapparatus 40 accepts an operation to instruct parking in the secondparking space, input apparatus 40 transmits the parking instructioninformation. On the other hand, when input apparatus 40 accepts anoperation to instruct not parking in the second parking space, inputapparatus 40 does not transmit the parking instruction information.

Next, control section 52 determines whether or not reception section 53receives the parking instruction information within a predefined time(step S7).

When the parking instruction information is not received (step S7: NO),the flow ends. In this case, vehicle 1 remains being forward parked inthe first parking space (for example, in parking space S1).

On the other hand, when the parking instruction information is received(step S7: YES), the flow goes to step S8.

Next, control section 52 performs the second parking control (step S8).

For example, control section 52 causes vehicle 1 to be forward parked inparking space S1 move forward, enter parking space S2, and stop withinparking space S2. This allows vehicle 1 to enter parking space S2 fromparking space S1 and stop within parking space S2. As a result, vehicle1 is in state of backward parking (also referred to as parking in abackward direction) within parking space S2.

This allows the occupant in vehicle 1 when leaving parking space tocause vehicle 1 to leave the parking space S2 through forward movement.Therefore, the occupant can achieve easier leaving parking space. Theoccupant when leaving parking space, in confirming surrounding safety,can achieve safe leaving parking space because it is easier to confirmsafety at the front than the backward.

As described above, parking assistance apparatus 50 according to theembodiment causes vehicle 1 to enter the second parking space from thefirst parking space and be parked in the second parking space, when thesecond parking space in which vehicle 1 can be parked is present infront of vehicle 1 entering the first parking space through forwardmovement. This allows vehicle 1 to be in the state of backward parkingin the second parking space. Therefore, easier leaving parking space canbe achieved.

Note that the present disclosure is not limited to the above embodimentand variously modified within a scope not departing from the gistthereof. Hereinafter, variations of the present disclosure aredescribed.

[Variation 1]

In the embodiment, described as an example is the case that detectionsection 51 detects the first parking space and the second parking spacebased on the image captured by imaging apparatus 20, but the presentdisclosure is not limited thereto.

As an example, detection section 51 may detect the first parking spaceand the second parking space based on a reflective wave of a radio wavetransmitted to surroundings (for example, the front and lateral) ofvehicle 1. Specifically, when vehicle 1 is strolling in a parking area,a radar radiates a radio wave, and detection section 51 calculatesfeature points of a parked vehicle based on a reflective wave reflectedand detects a parking space based on the feature points. As the radar, amillimeter-wave radar or a laser radar may be used, for example. Thelaser radar is also referred to as a LIDAR (Light Detection andRanging). For example, detection section 51 may detect the first parkingspace and the second parking space based on a reflective wave of anacoustic wave transmitted to surroundings (for example, the front andlateral) of vehicle 1. An ultrasonic sonar can be used as a transmissionand reception apparatus that transmits an acoustic wave and receives areflective wave.

[Variation 2]

In the embodiment, described as an example is the case that the parkingspaces are parallelogram areas as illustrated in FIG. 4 , but thepresent disclosure is not limited thereto. For example, the parkingspace may be a rectangular area.

[Variation 3]

In the embodiment, described as an example is the case that detectionsection 51 determines whether or not the second parking space is presentafter completion of the first parking control (in other words, aftervehicle 1 completes parking in the first parking space), but the presentdisclosure is not limited thereto.

For example, detection section 51 may determine whether or not thesecond parking space is present before vehicle 1 completes parking inthe first parking space (for example, at a time when vehicle 1 entersthe first parking space). This allows a smooth parking assistance to beperformed when vehicle 1 is made to enter the second parking space fromthe first parking space.

[Variation 4]

In the embodiment, described as an example is the case that controlsection 52 performs the second parking control in the case that controlsection 52 controls output apparatus 10 such that the inquiry aboutwhether to park vehicle 1 in the second parking space is made, andthereafter, reception section 53 receives the parking instructioninformation, but the present disclosure is not limited thereto.

For example, control section 52 may not control output apparatus 10 suchthat the above inquiry is made. In this case, control section 52 mayperform the second parking control without triggered by receiving theparking instruction information. This allows the parking assistance tobe automatically performed and allows the smooth parking assistance tobe achieved when vehicle 1 is made to enter the second parking spacefrom the first parking space. Note that, in this case, parkingassistance apparatus 50 may not include reception section 53.

[Variation 5]

In the embodiment, described as an example is the case that the parkingspaces are areas divided by the dividing lines, but the parking spacesmay not be the areas divided by the dividing lines or the like. Adetection method of the parking space in this case is described below.

Storage 30 stores in advance a vehicle size information beforeperforming detection of the parking space. Vehicle size information isinformation indicating values of a vehicle length (length in afront-back direction), a vehicle width (length in a right-leftdirection), and a vehicle height (length in an up-down direction) ofvehicle 1.

First, detection section 51 detects a space in which no obstacle ispresent based on an image received from imaging apparatus 20. Examplesof the obstacle includes other vehicles, building structures, andcurbstones. Note that sensed results by the radar described in Variation1 may be used instead of an image.

Next, detection section 51 calculates values of a depth, a width, and aheight of the detected space, and determines whether or not thecalculated values are larger than the values indicated in the vehiclesize information (vehicle length, vehicle width, and vehicle height).

As a result of the determination, if the calculated values are largerthan the values in the vehicle size information, detection section 51determines the detected space as a parking space.

Note that, for example, in a case that the width of the determinedparking space (length in the width direction) is only slightly largerthan the vehicle width, if vehicle 1 is parked in the parking space, adoor opening and closing are likely to be interfered. Therefore,detection section 51 may add predefined values to the values in thevehicle size information, and if the calculated values are larger thanthe values after the addition, detection section 51 may determine thedetected space as a parking space.

[Variation 6]

When other vehicles are parked diagonally right and diagonally left infront of vehicle 1 entering the first parking space (for example, in thecase of the state illustrated in FIG. 4 ), detection section 51 maycalculate a distance between the relevant other vehicles based on sensedresults by the ultrasonic sonar described in Variation 1, for example.Then, if the distance between the relevant other vehicles is larger thanthe vehicle width of vehicle 1 (or the value after the additiondescribed in Variation 5 above), detection section 51 may determine thatthe second parking space is present.

[Variation 7]

When other vehicle is parked in a parking space adjacent to the secondparking space (for example, in the case of the state illustrated in FIG.4 ), detection section 51 may determine an open or closed state of thedoor of the relevant other vehicle based on the image received fromimaging apparatus 20. When the door of other vehicle is in an openstate, control section 52 may control vehicle 1 such that vehicle 1 doesnot enter the second parking space. This can prevent vehicle 1 fromcolliding with the door of other vehicle.

Note that information received from other vehicle may be used instead ofthe image captured by imaging apparatus 20. For example, when receptionsection 53 receives information indicating an open or closed state ofthe door from other vehicle transmitted wirelessly from other vehicle,detection section 51 may determine the open or closed state of the doorof other vehicle base on the information.

[Variation 8]

When other vehicle is parked in a parking space adjacent to the secondparking space (for example, in the case of the state illustrated in FIG.4 ), detection section 51 may determine whether or not an occupant is inthe relevant other vehicle based on the image received from imagingapparatus 20. When an occupant is in other vehicle, control section 52may control vehicle 1 such that vehicle 1 does not enter the secondparking space. This can prevent vehicle 1 from colliding with anoccupant coming out of other vehicle.

Note that information received from other vehicle may be used instead ofthe image captured by imaging apparatus 20. For example, when receptionsection 53 receives information indicating a presence or absence of anoccupant transmitted wirelessly from other vehicle, detection section 51may determine whether or not an occupant is in the relevant othervehicle base on the information.

[Variation 9]

When detection section 51 recognizes that parking spaces are diagonallydivided (or that each parking space is parallelogram), detection section51 may start the detection process (step S1 in FIG. 5 ) of the firstparking space based on the image received from imaging apparatus 20.Note that the method for recognizing that the parking spaces arediagonally divided may use a known technology (for example, thetechnology disclosed in Japanese Patent Application Laid-Open No.2016-16681).

[Variation 10]

In the embodiment, described as an example is the case that thedetermination process of a presence or absence of the second parkingspace is performed after the detection process of the first parkingspace, but the present disclosure is not limited thereto.

For example, the detection process of the first parking space and thedetection process of the second parking space may be simultaneouslyperformed. In this case, detection section 51 may perform the detectionprocesses described above based on information indicating a free area inthe parking spaces received from a server apparatus not illustrated inthe figure.

[Variation 11]

In the embodiment, described as an example is the case that vehicle 1 isparked in any of the first parking space or the second parking space,but the present disclosure is not limited thereto.

For example, parking assistance apparatus 50 may perform control suchthat when the second parking space though which vehicle 1 can pass isdetected when vehicle 1 forward parked in the first parking space leavesthe parking space, vehicle 1 passes through the second parking space.This operation example is described below using FIG. 6 . FIG. 6 is aflowchart illustrating an operation example of parking assistanceapparatus 50 in this Variation. In FIG. 6 , the same step as in FIG. 5is designated the same reference sign. The flow in FIG. 6 starts whenvehicle 1 forward parked in the first parking space (for example,parking space S1 illustrated in FIG. 4 ) leaves the parking space.

First, detection section 51 determines whether or not the second parkingspace is present (step S4). The second parking space is parking space S2illustrated in FIG. 4 , for example.

When the second parking space is not present (step S4: NO), the flowends.

On the other hand, when the second parking space is present (step S4:YES), detection section 51 determines whether or not a car stopper ispresent in the first parking space (step S5).

For example, detection section 51 extracts a feature point from theimage received from imaging apparatus 20 and checks the feature pointagainst the feature point information read from storage 30 to determinewhether or not a car stopper is present in the first parking space. Asan example, the image captured by imaging apparatus 20 may be capturedbefore vehicle 1 completes parking in the first parking space. Thecaptured image is recorded in a predetermined storage, and detectionsection 51 may adequately read the image to check the read image againstthe feature point information read from storage 30.

When a car stopper is present (step S5: YES), the flow ends

On the other hand, when a car stopper is not present (step S5: NO),control section 52 perform a passing-through process (step S12).

Note that the detection of the car stopper in step S5 may be performedbefore vehicle 1 completes parking in the first parking space. In thiscase, when a car stopper is not present, the process in step S4 may befollowed by the process in step S12.

The passing-through process is control of causing vehicle 1 parked inthe first parking space to enter the second parking space and to passthrough the second parking space. Performing this control allows vehicle1 to enter the second parking space from the first parking space, passthrough the second parking space, and leave the second parking space.

As described above, parking assistance apparatus 50 according to theembodiment causes vehicle 1 to enter the second parking space from thefirst parking space and to pass through the second parking space, whenthe second parking space in which vehicle 1 can be parked is present infront of vehicle 1 that has completed being parked in the first parkingspace through forward movement. This allows the occupant in vehicle 1when leaving parking space to cause vehicle 1 to leave the parking spacethrough forward movement. Therefore, the occupant can achieve easierleaving parking space. The occupant when leaving parking space, inconfirming surrounding safety, can achieve safe leaving parking spacebecause it is easier to confirm safety at the front than the backward.

Note that in this Variation, the parking assistance apparatus may berephrased as a “vehicle travel control apparatus”.

[Variation 12]

The blocks described in the above embodiment such as detection section51, control section 52, and reception section 53 may be individuallymade into one chip by a semiconductor apparatus such as a LSI, or may bemade into one chip configured to include a part or all thereof.

A part or all of the functional blocks described in the above embodimentmay be implemented by a computer program. The processes described in theabove embodiment may be implemented by hardware, or software (includinga case implemented with an OS (operating system), middleware, or apredetermined library). Furthermore, a mixed process of software andhardware may implement the processes described in the above embodiment.

An order of performing the processes according to the above embodimentis not necessarily limited to that described in the above embodiment,and the performing order can be changed within a scope not departingfrom the gist of the present disclosure.

The variations described above may be adequately combined.

Summarization of Present Disclosure

The present disclosure is summarized as below.

A parking assistance apparatus of the present disclosure includes: adetection section that detects a first parking space in which parking ofa vehicle is allowed; and a control section that causes the vehicle tobe forward parked in the first parking space, in which, when a secondparking space in which parking of the vehicle is allowed is present infront of the vehicle entering the first parking space, the controlsection causes the vehicle that has been already under control to beforward parked in the first parking space to enter the second parkingspace from the first parking space and to be parked in the secondparking space.

In the above parking assistance apparatus of the present disclosure, thedetection section may determine whether or not the second parking spaceis present after the vehicle completes parking in the first parkingspace.

In the above parking assistance apparatus of the present disclosure, thedetection section may determine whether or not the second parking spaceis present before vehicle completes parking in the first parking space.

In the above parking assistance apparatus of the present disclosure, thedetection section may determine whether or not a car stopper is presentin the first parking space, and when the car stopper is present, thecontrol section may cause the vehicle to be parked in the first parkingspace.

In the above parking assistance apparatus of the present disclosure,when the second parking space is present, the control section maycontrol a predetermined output apparatus to make an inquiry to anoccupant of the vehicle about whether to park the vehicle in the secondparking space before making the vehicle enter the second parking space.

The above parking assistance apparatus of the present disclosure mayfurther include: a reception section that receives parking instructioninformation for instructing parking in the second parking space, inwhich, when the reception section receives the parking instructioninformation, the control section may cause the vehicle to enter thesecond parking space from the first parking space and be parked in thesecond parking space.

In the above parking assistance apparatus of the present disclosure, thedetection section may detect the first parking space and the secondparking space based on an image of surroundings of the vehicle capturedby an imaging apparatus.

In the above parking assistance apparatus of the present disclosure, thedetection section may detect the first parking space and the secondparking space based on a reflective wave of an acoustic wave or a radiowave, the acoustic wave or the radio wave being transmitted tosurroundings of the vehicle by a transmission and reception apparatusand the reflective wave of the acoustic wave or the radio wave beingreceived by the transmission and reception apparatus.

In the above parking assistance apparatus of the present disclosure,when other vehicles are respectively parked diagonally right anddiagonally left in front of the vehicle entering the first parkingspace, the detection section may calculate a distance between the othervehicles, and when the distance between the other vehicles is largerthan a vehicle width of the vehicle, the detection section may determinethat the second parking space is present.

In the above parking assistance apparatus of the present disclosure,when another vehicle is parked in a parking space adjacent to the secondparking space, the detection section may determine an open or closedstate of a door of the other vehicle, and when the door of the othervehicle in the open state, the control section may control the vehiclesuch that the vehicle does not enter the second parking space.

In the above parking assistance apparatus of the present disclosure,when another vehicle is parked in a parking space adjacent to the secondparking space, the detection section may determine whether or not anoccupant is in the other vehicle, and when an occupant is in the othervehicle, the control section may control the vehicle such that thevehicle does not enter the second parking space.

In the above parking assistance apparatus of the present disclosure,when the detection section recognizes that parking spaces are diagonallydivided, the detection section may start detecting the first parkingspace.

A parking assistance apparatus of the present disclosure includes: adetection section that detects a parking space in which parking of avehicle is allowed; and a control section that causes the vehicle toenter the parking space through forward movement, in which, when aparking space in which parking of the vehicle is allowed is present infront of the vehicle, the control section controls the vehicle such thatthe vehicle passes through the parking space.

While various embodiments have been described herein above, it is to beappreciated that various changes in form and detail may be made withoutdeparting from the spirit and scope of the invention(s) presently orhereafter claimed.

This application is entitled to and claims the benefit of JapanesePatent Application No. 2018-147488, filed on Aug. 6, 2018, thedisclosure of which including the specification, drawings and abstractis incorporated herein by reference in its entirety.

INDUSTRIAL APPLICABILITY

The parking assistance apparatus according to the present disclosure isadvantageous for the technology assisting the parking in the parkingspace.

REFERENCE SIGNS LIST

-   -   1 Vehicle    -   10 Output apparatus    -   20 Imaging apparatus    -   30 Storage    -   40 Input apparatus    -   50 Parking assistance apparatus    -   51 Detection section    -   52 Control section    -   53 Reception section    -   501 CPU    -   502 ROM    -   503 RAM    -   504 Bus    -   P Dividing line    -   S1, S2 Parking space

What is claimed is:
 1. A parking control method for a parking controlcircuit mounted on a vehicle, the parking control circuit including aninput circuit coupled with an imaging device to capture an ambient imageof the vehicle, and an output circuit coupled with a steering actuatorperforming steering of the vehicle, the parking control methodcomprising: detecting a first parking space based on the ambient imageof the vehicle captured by the imaging device; controlling at least thesteering actuator of the vehicle to cause the vehicle to be parked inthe first parking space; detecting a second parking space based on theambient image of the vehicle captured by the imaging device, while thevehicle is travelling into the first parking space, the second parkingspace being adjacent to the first parking space in a travellingdirection of the vehicle, the second parking space being farther thanthe first parking space from the vehicle; and controlling at least thesteering actuator of the vehicle to cause the vehicle to be parked inthe second parking space.
 2. The parking control method according toclaim 1, wherein detecting the second parking space based on the ambientimage of the vehicle captured by the imaging device is performed afterthe vehicle parks in the first parking space.
 3. The parking controlmethod according to claim 1, wherein detecting the second parking spacebased on the ambient image of the vehicle captured by the imaging deviceis performed before the vehicle parks in the first parking space.
 4. Theparking control method according to claim 1, wherein detecting thesecond parking space based on the ambient image of the vehicle capturedby the imaging device is performed, while the vehicle is travelling intothe first parking space, and at least the steering actuator of thevehicle is controlled to cause the vehicle to be parked in the secondparking space, when there is no car stopper in the first parking space.5. The parking control method according to claim 1, wherein the outputcircuit of the parking control circuit is further configured to becoupled with an output device mounted on the vehicle, the parkingcontrol method further comprising making an inquiry to an occupant ofthe vehicle about whether to park the vehicle in the second parkingspace using the output device before the vehicle enters the secondparking space, when the second parking space is detected based on theambient image of the vehicle captured by the imaging device.
 6. Theparking control method according to claim 5, wherein the input circuitof the parking control circuit is further configured to be coupled withan input device mounted on the vehicle, the parking control methodfurther comprising receiving a parking instruction for parking in thesecond parking space using the input device, after making the inquiry tothe occupant of the vehicle using the output device, wherein at leastthe steering actuator of the vehicle is controlled to cause the vehicleto be parked in the second parking space, after receiving the parkinginstruction for parking in the second parking space.
 7. The parkingcontrol method according to claim 1, wherein, the vehicle is defined asa first vehicle, and the second parking space is between a secondvehicle and a third vehicle, the second parking space having a distancebetween the second vehicle and the third vehicle, the distance beinggreater than a vehicle width of the first vehicle.
 8. The parkingcontrol method according to claim 1, wherein, the vehicle is defined asa first vehicle, the parking control method further comprising:detecting the second parking space, a second vehicle being adjacent tothe second parking space, and an opening door of the second vehicle; andcontrolling at least the steering actuator of the first vehicle to causethe first vehicle not to be parked in the second parking space.
 9. Theparking control method according to claim 1, wherein, the vehicle isdefined as a first vehicle, the parking control method furthercomprising: detecting the second parking space, a second vehicle beingadjacent to the second parking space, and an occupant in the secondvehicle; and controlling at least the steering actuator of the firstvehicle to cause the first vehicle not to be parked in the secondparking space.
 10. The parking control method according to claim 1,further comprising: detecting parking spaces being diagonally divided,before detecting the first parking space; and detecting the firstparking space.
 11. A parking control method for a parking controlcircuit mounted on a vehicle, the parking control circuit including aninput circuit coupled with a transmission and reception device mountedon the vehicle, and an output circuit coupled with a steering actuatorperforming steering of the vehicle, the transmission and receptiondevice transmitting an acoustic wave or a radio wave and receiving areflective wave of the acoustic wave or the radio wave, the parkingcontrol method comprising: detecting a first parking space based on thereflective wave received by the transmission and reception device;controlling at least the steering actuator of the vehicle to cause thevehicle to be parked in the first parking space; detecting a secondparking space based on the reflective wave received by the transmissionand reception device, while the vehicle is travelling into the firstparking space, the second parking space being adjacent to the firstparking space in a travelling direction of the vehicle, the secondparking space being farther than the first parking space from thevehicle; and controlling at least the steering actuator of the vehicleto cause the vehicle to be parked in the second parking space.
 12. Theparking control method according to claim 11, wherein detecting thesecond parking space based on the reflective wave received by thetransmission and reception device is performed after the vehicle parksin the first parking space.
 13. The parking control method according toclaim 11, wherein detecting the second parking space based on thereflective wave received by the transmission and reception device isperformed before the vehicle parks in the first parking space.
 14. Theparking control method according to claim 11, wherein detecting thesecond parking space based on the reflective wave received by thetransmission and reception device is performed, while the vehicle istravelling into the first parking space, and at least the steeringactuator of the vehicle is controlled to cause the vehicle to be parkedin the second parking space, when there is no car stopper in the firstparking space.
 15. The parking control method according to claim 11,wherein the output circuit of the parking control circuit is furtherconfigured to be coupled with an output device mounted on the vehicle,the parking control method further comprising making an inquiry to anoccupant of the vehicle about whether to park the vehicle in the secondparking space using the output device before the vehicle enters thesecond parking space, when the second parking space is detected based onthe reflective wave received by the transmission and reception device.16. The parking control method according to claim 15, wherein the inputcircuit of the parking control circuit is further configured to becoupled with an input device mounted on the vehicle, the parking controlmethod further comprising receiving a parking instruction for parking inthe second parking space using the input device, after making theinquiry to the occupant of the vehicle using the output device, whereinat least the steering actuator of the vehicle is controlled to cause thevehicle to be parked in the second parking space, after receiving theparking instruction for parking in the second parking space.
 17. Theparking control method according to claim 11, wherein, the vehicle isdefined as a first vehicle, and the second parking space is between asecond vehicle and a third vehicle, the second parking space having adistance between the second vehicle and the third vehicle, the distancebeing greater than a vehicle width of the first vehicle.
 18. The parkingcontrol method according to claim 11, wherein, the vehicle is defined asa first vehicle, the parking control method further comprising:detecting the second parking space, a second vehicle being adjacent tothe second parking space, and an opening door of the second vehicle; andcontrolling at least the steering actuator of the first vehicle to causethe first vehicle not to be parked in the second parking space.
 19. Theparking control method according to claim 11, wherein, the vehicle isdefined as a first vehicle, the parking control method furthercomprising: detecting the second parking space, a second vehicle beingadjacent to the second parking space, and an occupant is in the secondvehicle, controlling at least the steering actuator of the first vehicleto cause the first vehicle not to be parked in the second parking space.20. The parking control method according to claim 11, furthercomprising: detecting parking spaces being diagonally divided, beforedetecting the first parking space; and detecting the first parkingspace.